Create `docker compose` file for launching `rosbag` replay simulation

[youtalk]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Create a docker compose file to launch the equivalent of a rosbag replay simulation using autoware’s multi-containers.
https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/

Purpose

Provide autoware’s multi-container setup in a more user-friendly form.

Possible approaches

Create a docker-compose.yaml file.

Definition of done

Run properly docker compose -f docker-compose.yaml up to launch the rosbag replay simulation.